#ifndef __PPID_H
#define __PPID_H

typedef struct 
{
    float Kp;              
    float Ki;               
    float fast_Ki;          
    float Kd;               
    float measure;          
    float target;           
    float error[3];         
    float Pout;          
    float Iout;          
    float D_item;        
    float Dout;          
    float OUT;           
    float Max_iout;      
    float Max_fast_iout;   
    float Max_out;          
    float Ki_divider;       
} PID_typedef;

extern float PID_cal(PID_typedef *PID1, float measure, float target);
extern float PID_rpm(PID_typedef *PID1, float measure, float target);

#endif
